These are the robots and the controlers i have.I never programmed staubli robots (only Kuka and some abb and motoman) so any help is apreciated. If any one have some program compiler and simulator to create some code in pc i apreciate to.

There are some manuals and files in Tools section of Stäubli Board.You can use an ASCII text editor (Win notepad) and a FTP client (FileZilla), orA FTP enabled text editor (UltraEdit32, NotePad++, jEdit) to write code and get it into bot.I know that there are substantial differences between Ver3 (plain text) and Ver5 (XML) Stäubli CS8's.

For simulation AND programming you will need SRS (Stäubli Robotics Studio) which is proprietary and obtainable from Stäubli.

You can get all the CS8 manuals free from the Staubli Robotics website.Navigate to Customer Support / Access Secured Data. From there, you can download mountains of information.You must register to have access. Permission or denial comes in a couple days. When I registered a few years ago they told me I needed an email with some version of my real name on it.